US10656662B2 - Variable pressure device and actuator - Google Patents
Variable pressure device and actuator Download PDFInfo
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- US10656662B2 US10656662B2 US15/899,534 US201815899534A US10656662B2 US 10656662 B2 US10656662 B2 US 10656662B2 US 201815899534 A US201815899534 A US 201815899534A US 10656662 B2 US10656662 B2 US 10656662B2
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
- G05D16/2013—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means
- G05D16/2026—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means with a plurality of throttling means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0871—Channels for fluid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0807—Manifolds
- F15B13/0814—Monoblock manifolds
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40507—Flow control characterised by the type of flow control means or valve with constant throttles or orifices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40553—Flow control characterised by the type of flow control means or valve with pressure compensating valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40576—Assemblies of multiple valves
- F15B2211/40592—Assemblies of multiple valves with multiple valves in parallel flow paths
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41563—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a return line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41581—Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a return line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50554—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
- F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/885—Control specific to the type of fluid, e.g. specific to magnetorheological fluid
- F15B2211/8855—Compressible fluids, e.g. specific to pneumatics
Definitions
- Embodiments described herein relate generally to a variable pressure device and an actuator.
- variable pressure device that has a pressure control valve and can set a pressure in two stages.
- variable pressure device with less disadvantages and an actuator including the variable pressure device, for example, that can change a pressure in three or more stages with a simpler mechanism.
- FIG. 1 is a schematic configuration diagram schematically and exemplarily illustrating a variable pressure device according to a first embodiment
- FIG. 2 is a graph illustrating an example of pressures that can be set in multiple stages by the variable pressure device according to the first embodiment
- FIG. 3 is a schematic configuration diagram schematically and exemplarily illustrating an actuator including a variable pressure device according to a second embodiment
- FIG. 4 is a schematic configuration diagram schematically and exemplarily illustrating a valve included in the variable pressure device according to the second embodiment
- FIG. 5 is a graph illustrating an example of pressures that can be set in multiple stages by the variable pressure device according to the second embodiment
- FIG. 6 is a schematic configuration diagram schematically and exemplarily illustrating a system to which the actuator according to the second embodiment is applied;
- FIG. 7 is a graph illustrating an example of a pressure change by setting of a first adjusting regulator in the variable pressure device according to the second embodiment
- FIG. 8 is a graph illustrating an example of pressures that can be set in multiple stages by an adjusted or controlled variable pressure device according to the second embodiment
- FIG. 9 is a graph illustrating an example of a ratio of a pressure at one point to the sum of the pressures at two points in which increasing and decreasing characteristics are contrary to each other in the adjusted or controlled variable pressure device according to the second embodiment;
- FIG. 10 is a graph illustrating an example of the sum of the pressures at two points in which increasing and decreasing characteristics are contrary to each other in the adjusted or controlled variable pressure device according to the second embodiment;
- FIG. 11 is a schematic configuration diagram schematically and exemplarily illustrating an actuator including a variable pressure device according to a third embodiment
- FIG. 12 is a schematic configuration diagram schematically and exemplarily illustrating an actuator including a variable pressure device according to a fourth embodiment
- FIG. 13 is a schematic configuration diagram schematically and exemplarily illustrating an actuator including a variable pressure device according to a fifth embodiment.
- FIG. 14 is a schematic configuration diagram schematically and exemplarily illustrating an actuator including a variable pressure device according to a modification of the fifth embodiment.
- a variable pressure device includes a channel constituting unit and a switch valve mechanism.
- the channel constituting unit constitutes a channel including a first regulator and second regulators that are arranged in series to the first regulator and are in parallel to one another.
- the switch valve mechanism selectively connects the second regulators to the first regulator. Opening areas of the second regulators are different from one another.
- FIG. 1 is a schematic configuration diagram of a variable pressure device 1 .
- the variable pressure device 1 includes a channel constituting unit 50 , a switch valve mechanism 10 , and an ECU (electronic control unit).
- the variable pressure device 1 changes the pressure of a fluid at a predetermined point P by an operation of the switch valve mechanism 10 controlled by the ECU.
- the ECU is an example of a control unit.
- the channel constituting unit 50 is a member, such as a pipe, a tube, or a block.
- the channel constituting unit 50 is provided with a channel, such as a hole or a chamber.
- the channel constituting unit 50 can be constituted by a combination of a plurality of members.
- the channel constituting unit 50 includes a first regulator R 1 and a plurality of second regulators R 21 to R 24 .
- the second regulators R 21 to R 24 are each arranged in series to the first regulator R 1 and are arranged in parallel to one another.
- Each of the first regulator R 1 and the second regulators R 21 to R 24 is an orifice or a choke, for example.
- the first regulator R 1 may be constituted to be exchangeable or as a variable regulator including a movable portion that can change an opening area (channel resistance).
- a high-pressure source of the fluid is a pump or a cylinder, for example. Further, a silencer or the like is provided at an exhaust port as necessary.
- the opening areas of the second regulators R 21 to R 24 are different from one another. Specifically, the opening area of the second regulator R 21 is A, the opening area of the second regulator R 22 is 2 A that is twice the opening area of the second regulator R 21 , the opening area of the second regulator R 23 is 4 A that is four times the opening area of the second regulator R 21 , and the opening area of the second regulator R 24 is 8 A that is eight times the opening area of the second regulator R 21 , for example.
- n is the number of the second regulators R 21 to R 24 and is an integer larger than 1.
- A is the opening area of the second regulator R 21 that has the smallest opening area, and can be referred to as “unit opening area”.
- the switch valve mechanism 10 includes a plurality of valves 11 to 14 that are parallel to one another.
- Each of the valves 11 to 14 is a solenoid valve (on-off valve) electrically driven by the ECU, and switches an open state and a closed state of a channel.
- the valve 11 is provided between the first regulator R 1 and the second regulator R 21 and switches connection and disconnection of a channel between the first regulator R 1 and the second regulator R 21 .
- the valve 12 is provided between the first regulator R 1 and the second regulator R 22 and switches connection and disconnection of a channel between the first regulator R 1 and the second regulator R 22 .
- the valve 13 is provided between the first regulator R 1 and the second regulator R 23 and switches connection and disconnection of a channel between the first regulator R 1 and the second regulator R 23 .
- the valve 14 is provided between the first regulator R 1 and the second regulator R 24 and switches connection and disconnection of a channel between the first regulator R 1 and the second regulator R 24 .
- the fluid flows from the upstream side of the first regulator R 1 (the left side in FIG. 1 ) to the downstream side (the right side in FIG. 1 ) of one of the second regulators R 21 to R 24 corresponding to the opened one of the valves 11 to 14 , and flows out of the channel constituting unit 50 .
- the switch valve mechanism 10 selectively connects the second regulators R 21 to R 24 to the first regulator R 1 by switching opening and closing of the valves 11 to 14 .
- the ECU is a computer, and can include a controller, a main memory device, an auxiliary memory device, and a driving circuit (not illustrated), for example.
- the controller can achieve functions as the ECU by performing arithmetic processing in accordance with an installed program (application, software). At least a portion of the functions of the ECU may be achieved by hardware, such as an ASIC (application specific integrated circuit), a FPGA (field-programmable gate array), or a DSP (digital signal processor).
- the driving circuit receives an instruction signal from the controller, and outputs a control signal (electric signal) that switches the state of each of the valves 11 to 14 in accordance with the instruction signal.
- the driving circuit includes a power supply circuit and a switching element, for example, and switches opening and closing of the switching element in accordance with the instruction signal to output the control signal that causes a driving portion of each of the valves 11 to 14 to operate.
- the opening areas of the second regulators R 21 to R 24 are powers of 2 times the unit opening area A, as described above. Therefore, according to the present embodiment, by changing a combination of the first regulator R 1 and one or more of the second regulators R 21 to R 24 connected to the first regulator R 1 , it is possible to switch the total value of the opening areas of the second regulators R 21 to R 24 (hereinafter, also simply referred to as “total value”) in a range from 1 to 15 times the unit opening area A by one time increment. That is, in the present embodiment, it is possible to obtain the total values A, 2 A, . . .
- FIG. 2 is a graph illustrating an example of pressures that can be set by the variable pressure device 1 in multiple stages.
- the vertical axis represents the pressure.
- the horizontal axis in FIG. 2 represents binary commands in decimal numbers, in each of which an instruction for each of the second regulators R 21 to R 24 is assigned to a lower digit as the opening area of the second regulator is smaller, assuming that an opening instruction from an ECU to each of the valves 11 to 14 is “1” and a closing instruction (no opening instruction) is “0”.
- a command is “0000” in binary number and “0” in decimal number.
- a command is “0011” in binary number and “3” in decimal number.
- a command is “1101” in binary number and “13” in decimal number.
- a value of the command represents a multiple number with respect to the unit opening area A to obtain the total value. That is, as the command value is larger, the total value of the opening areas of the second regulators R 21 to R 24 is larger. Even in a case where the opening areas of the second regulators R 21 to R 24 are not powers of 2 times the unit opening area A, the pressure at the predetermined point P can be changed in accordance with the magnitude of the total value by performing switching in an identical manner.
- the opening areas of the second regulators R 21 to R 24 are different from one another. Therefore, by switching a predetermined number of valves 11 to 14 corresponding to the predetermined number of second regulators R 21 to R 24 , that is, a combination of one or more of the valves 11 to 14 that are in an open state or a combination of one or more of the valves 11 to 14 that are in a closed state, it is possible to switch the pressure at the predetermined point P in a number of stages, the number being larger than the predetermined number.
- variable pressure device 1 it is possible to constitute the variable pressure device 1 to be more compact or simpler, as compared with a configuration in which the pressure at the predetermined point P can be switched in the same number of stages as the number of the valves 11 to 14 , for example.
- FIG. 3 is a schematic configuration diagram of an actuator 100 A including a variable pressure device 1 A.
- a channel constituting unit 50 A of the variable pressure device 1 A includes two first regulators R 11 and R 12 parallel to each other.
- the two first regulators R 11 and R 12 are each arranged in series to the second regulators R 21 to R 24 .
- a switch valve mechanism 10 A includes a plurality of valves 11 A to 14 A parallel to one another.
- the valves 11 A to 14 A have the same configuration.
- FIG. 4 is a schematic configuration diagram of the valve 11 A.
- ports in 1 and in 2 communicating with the two first regulators R 11 and R 12 , respectively are selectively connected to a port out communicating with one of the second regulators R 21 to R 24 corresponding to the valve. Therefore, each of the valves 11 A to 14 A can switch a state where it connects one of the two first regulators R 11 and R 12 and the corresponding one of the second regulators R 21 to R 24 to each other and a state where it connects the other of the two first regulators R 11 and R 12 and the corresponding one of the second regulators R 21 to R 24 to each other.
- the switch valve mechanism 10 A connects at least one of the second regulators R 21 to R 24 to one of the two first regulators R 11 and R 12 and also connects the remaining ones of the second regulators R 21 to R 24 to the other of the two first regulators R 11 and R 12 .
- the pressure at a predetermined point P 1 between one first regulator R 11 and the switch valve mechanism 10 A acts on a first operating unit AP 1 of the actuator 100 A.
- the pressure at a predetermined point P 2 between the other first regulator R 12 and the switch valve mechanism 10 A acts on a second operating unit AP 2 of the actuator 100 A.
- variable pressure device 1 A includes a pressure control valve 30 .
- the channel constituting unit 50 A includes first adjusting regulators RC 11 and RC 12 and a check valve 20 .
- the pressure control valve 30 is a linear solenoid valve, for example, and can variably set a pressure (set pressure, original pressure) in a channel in the channel constituting unit 50 A, specifically on the upstream side of the first regulators R 11 and R 12 by being electrically controlled by an ECU.
- the pressure control valve 30 can be also referred to as “pressure adjusting valve” or “variable pressure control valve”.
- the first adjusting regulator RC 11 is arranged in series to the first regulator R 11 and is arranged in parallel to the switch valve mechanism 10 A and the second regulators R 21 to R 24 .
- the first adjusting regulator RC 12 is arranged in series to the first regulator R 12 and is arranged in parallel to the switch valve mechanism 10 A and the second regulators R 21 to R 24 . Due to the first adjusting regulator RC 11 , the pressure at the predetermined point P 1 is lowered as compared with a case where it is not provided. Due to the first adjusting regulator RC 12 , the pressure at the predetermined point P 2 is lowered as compared with a case where it is not provided.
- first adjusting regulators RC 11 and RC 12 have the same specification, such as an opening area, these regulators may be different from each other. Further, each of the first adjusting regulators RC 11 and RC 12 may be constituted to be exchangeable or as a variable regulator having an opening area (channel resistance) that can be electrically changed by the ECU.
- the check valve 20 allows a fluid to flow from the pressure control valve 30 to the first regulators R 11 and R 12 and prevents the fluid from flowing from the first regulators R 11 and R 12 to the pressure control valve 30 .
- FIG. 5 is a graph illustrating an example of pressures that can be set by the variable pressure device 1 A in multiple stages.
- the pressures characteristics at the predetermined points P 1 and P 2 are obtained as illustrated in FIG. 5 , in which the pressure at the predetermined point P 2 is low when the pressure at the predetermined point P 1 is high, gradually becomes higher from a state where the pressure at the predetermined point P 2 is low as the pressure at the predetermined point P 1 gradually becomes lower from a state where the pressure at the predetermined point P 1 is high, and is high when the pressure at the predetermined point P 1 is low.
- these characteristics are referred to as “conflicting characteristics of pressures”
- graphs are illustrated in a plurality of cases where pressures set by the pressure control valve 30 are different from one another, for each of the pressures at the predetermined points P 1 and P 2 .
- FIG. 6 is a schematic configuration diagram of an actuation system 200 to which the first operating unit AP 1 and the second operating unit AP 2 in FIG. 3 are applied.
- the actuation system 200 includes two movable members 201 and 202 connected to be rotatable around a rotation center Ax.
- the movable members 201 and 202 are joint arms, for example.
- the first operating unit AP 1 and the second operating unit AP 2 are McKibben artificial muscles that changes relative angles of the movable members 201 and 202 around the rotation center Ax, for example.
- the McKibben artificial muscle includes a tube that is formed by an extendable elastic material, such as elastomer, and is closed at an end in a longitudinal direction, and a mesh that encloses the tube and is formed by a synthetic fiber material, for example.
- the McKibben artificial muscle expands in a radial direction (a transverse direction) and contracts in an axial direction in a supply state where gas (air) as a fluid is supplied into the tube, thereby generating a tensile force (a contraction force) that pulls both ends in the axial direction (an operating state).
- the McKibben artificial muscle contracts in the radial direction in accordance with an elastic force of the tube and the mesh and extends in the axial direction in a non-supply state where the gas is discharged from the tube, and returns to an original shape (a non-operating state).
- the conflicting characteristics of the pressures at the predetermined points P 1 and P 2 in the variable pressure device 1 A illustrated in FIG. 5 that is, conflicting characteristics of the pressures in the first operating unit AP 1 and the second operating unit AP 2 in FIG. 3 functions effectively in the actuation system 200 of FIG. 6 . That is, it is possible to achieve a configuration in which, when the pressure in the first operating unit AP 1 becomes high and the first operating unit AP 1 contracts relatively, the pressure in the second operating unit AP 2 becomes low and the second operating unit AP 2 extends relatively, and on the contrary, when the pressure in the first operating unit AP 1 becomes low and the first operating unit AP 1 extends relatively, the pressure in the second operating unit AP 2 becomes high and the second operating unit AP 2 contracts relatively. That is, the first operating unit AP 1 and the second operating unit AP 2 in FIG. 3 can function as an agonist and an antagonist of the McKibben artificial muscle in the actuation system 200 of FIG. 6 .
- FIG. 7 is a graph illustrating a pressure change at the predetermined point P 1 by variable setting of the first adjusting regulator RC 11 in the variable pressure device 1 A.
- FIG. 7 includes a plurality of graphs in a case where a ratio of an opening area A 1 of the first regulator R 11 with respect to an opening area AC 1 of the first adjusting regulator RC 11 , A 1 /AC 1 (hereinafter, simply “opening ratio”) is changed.
- opening ratio a ratio of an opening area A 1 of the first regulator R 11 with respect to an opening area AC 1 of the first adjusting regulator RC 11
- a 1 /AC 1 hereinafter, simply “opening ratio”
- the linearity of the pressure change at the predetermined point P 1 with respect to a change of the total value of the opening areas (hereinafter, simply “linearity of pressure control”) is changed in accordance with a value of the opening ratio A 1 /AC 1 .
- the linearity of pressure control is higher.
- the linearity of pressure control is lower in a range where the total value of the openings areas of the second regulators R 21 to R 24 is small (for example, a range where the command value is 4 or less) than in a range where the total value is large (for example, a range where the command value is larger than 4).
- the first adjusting regulators RC 11 and RC 12 are provided in parallel to the second regulators R 21 to R 24 , as described above. Therefore, addition of the first adjusting regulators RC 11 and RC 12 to the channel constituting unit 50 A is equivalent to providing an initial opening area (an offset value) to the total value of the opening areas of the second regulators R 21 to R 24 . Accordingly, with the configuration of FIG.
- the ECU controls the pressure control valve 30 in such a manner that the set pressure is higher as the command value is smaller. This control can improve the linearity of pressure control.
- FIG. 8 is a graph illustrating pressures that can be set in multiple stages by an adjusted or controlled variable pressure device 1 A.
- FIG. 9 is a graph illustrating a ratio of the pressure at the predetermined point P 1 to the sum of the pressures at the predetermined point P 1 and the predetermined point P 2 (hereinafter, simply “pressure ratio”) in the adjusted or controlled variable pressure device 1 A.
- FIG. 10 is a graph illustrating an example of the sum of the pressures at the predetermined point P 1 and the predetermined point P 2 in the adjusted or controlled variable pressure device 1 A.
- the linearity of pressure control can be improved as illustrated in FIG. 8 , by any of (1) appropriate setting of the opening ratio A 1 /AC 1 , adjustment of the opening ratio A 1 /AC 1 by exchange of a component, or variable control of the opening ratio A 1 /AC 1 by the ECU, (2) appropriate setting of the first adjusting regulators RC 11 and RC 12 , adjustment of the first adjusting regulators RC 11 and RC 12 by exchange of a component, or variable control of the first adjusting regulators RC 11 and RC 12 by the ECU, and (3) variable control of the pressure control valve 30 by the ECU, or by a combination of them. Further, improvement of the linearity of pressure control as illustrated in FIG.
- FIG. 8 provides pressure-ratio characteristics with the high linearity as illustrated in FIG. 9 and pressure characteristics in which a change width of the total value of the pressures, corresponding to a change of the opening areas of the second regulators R 21 to R 24 , is small (the variation is small) as illustrated in FIG. 10 .
- the sum of the pressures in FIG. 10 can be changed by variable setting of the set pressure of the pressure control valve 30 .
- FIG. 9 illustrates the characteristics of a change of an angle between the movable members 201 and 202
- FIG. 10 illustrates rigidity of the movable members 201 and 202 . That is, according to the present embodiment, it is possible to obtain the actuation system 200 that has the angle-change characteristics with the high linearity and has a small change of the rigidity irrespective of the angle.
- the switch valve mechanism 10 A connects at least one of the second regulators R 21 to R 24 to one of the two first regulators R 11 and R 12 and also connects the remaining ones of the second regulators R 21 to R 24 to the other of the two first regulators R 11 and R 12 . Therefore, according to the present embodiment, it is possible to obtain conflicting characteristics of the pressures at the predetermined points P 1 and P 2 , for example, by the switch valve mechanism 10 A.
- the channel constituting unit 50 A includes the first adjusting regulators RC 11 and RC 12 in the present embodiment. Therefore, according to the present embodiment, it is possible to improve the linearity of control for the pressures at the predetermined points P 1 and P 2 , for example, by the first adjusting regulators RC 11 and RC 12 .
- the pressure control valve 30 adjusts the pressure in a channel in the channel constituting unit 50 A to be variable in the present embodiment. Therefore, according to the present embodiment, it is possible to change the pressures at the predetermined points P 1 and P 2 and to further improve the linearity of the control for the pressures at the predetermined points P 1 and P 2 by the pressure control valve 30 , for example.
- FIG. 11 is a schematic configuration diagram of an actuator 100 B including a variable pressure device 1 B.
- a channel constituting unit 50 B of the variable pressure device 1 B includes a second adjusting regulator RC 21 between the first regulator R 11 and the switch valve mechanism 10 A and a second adjusting regulator RC 22 between the first regulator R 12 and the switch valve mechanism 10 A. That is, the first regulator R 11 , the second adjusting regulator RC 21 , and the switch valve mechanism 10 A are arranged in series to one another, and the first regulator R 12 , the second adjusting regulator RC 22 , and the switch valve mechanism 10 A are arranged in series to one another.
- the predetermined points P 1 and P 2 are set between the first regulators R 11 and R 12 and the second adjusting regulators RC 21 and RC 22 , respectively. Therefore, as for the second adjusting regulators RC 21 and RC 22 , the pressures at the predetermined points P 1 and P 2 are higher as compared with a case where these regulators are not provided.
- Each of the second adjusting regulators RC 21 and RC 22 may be constituted to be exchangeable or as a variable regulator including a movable portion that can change an opening area (channel resistance).
- the channel constituting unit 50 B of the variable pressure device 1 B includes a third adjusting regulator RC 3 .
- the third adjusting regulator RC 3 is provided on a side of the switch valve mechanism 10 A opposite to the first regulators R 11 and R 12 to be in series to the second regulator R 24 .
- the linearity of pressure control may be lower in a range where the total value of the openings areas of the second regulators R 21 to R 24 is large (for example, a range where the command value is 12 or more) than in a range where that total value is small (for example, a range where the command value is smaller than 12), as in the example of FIG. 2 .
- the third adjusting regulator RC 3 is provided in series to the second regulator R 24 that has the largest opening area (the smallest channel resistance) among the second regulators R 21 to R 24 .
- the second regulator R 24 having the largest opening area allows a fluid to flow therethrough in a case where the total value of the opening areas of the second regulators R 21 to R 24 is relatively large.
- addition of the third adjusting regulator RC 3 in series to the second regulator R 24 in the channel constituting unit 50 B is equivalent to reduction of the total value of the opening areas of the second regulators R 21 to R 24 in a case where the total value of the opening areas of the second regulators R 21 to R 24 is large to such an extent that the fluid flows through the second regulator R 24 . Accordingly, with the configuration of FIG. 11 , it is possible to obtain the high linearity of pressure control also in the range where the total value of the opening areas of the second regulators R 21 to R 24 is large by appropriately adjusting the opening area of the third adjusting regulator RC 3 .
- the variable pressure device 1 B includes a solenoid on-off valve HVA capable of confining the fluid in each of the first operating unit AP 1 and the second operating unit AP 2 .
- the on-off valve HVA is also referred to as pressure holding valve.
- the variable pressure device 1 B further includes a solenoid on-off valve HVL for preventing the fluid from flowing out between the pressure control valve 30 and the first regulators R 11 and R 12 .
- the on-off valve HVL can be also referred to as “leak preventing valve”.
- An ECU controls opening and closing of each of the on-off valves HVA and HVL.
- the channel constituting unit 50 B includes the second adjusting regulators RC 21 and RC 22 in a third embodiment. Therefore, according to the present embodiment, it is possible to variably set the pressures at the predetermined points P 1 and P 2 , for example, by the second adjusting regulators RC 21 and RC 22 .
- the channel constituting unit 50 B includes the third adjusting regulator RC 3 in the present embodiment. Therefore, according to the present embodiment, it is possible to further improve the linearity of control for the pressures at the predetermined points P 1 and P 2 , for example, by the third adjusting regulators RC 3 .
- FIG. 12 is a schematic configuration diagram of an actuator 100 C including a variable pressure device 1 C.
- a channel constituting unit 50 C of the variable pressure device 1 C includes fourth adjusting regulators RC 4 .
- the fourth adjusting regulators RC 4 are provided on a side of the switch valve mechanism 10 A opposite to the first regulators R 11 and R 12 and in parallel to the second regulator 24 .
- the linearity of pressure control may be lower in a range where the total value of the openings areas of the second regulators R 21 to R 24 is large (for example, a range where the command value is 12 or more) than in a range where the total value is small (for example, a range where the command value is smaller than 12), as in the example of FIG. 2 .
- the fourth adjusting regulator RC 4 is provided in parallel to each of the second regulators R 21 to R 23 other than the second regulator R 24 that has the largest opening area (the smallest channel resistance) among the second regulators R 21 to R 24 .
- a solenoid on-off valve SV is provided on the upstream side of the fourth adjusting regulator RC 4 , that is, between the fourth adjusting regulator RC 4 and the switch valve mechanism 10 A.
- An ECU controls opening and closing of the on-off valve SV. While each of the valves 11 A to 13 A of the switch valve mechanism 10 A is in an open state, the pressures at the predetermined points P 1 and P 2 are lower in a state where the corresponding on-off valve SV is in an open state than that in a state where the corresponding on-off valve SV is in a closed state. In addition, the pressures in that case can be adjusted by selecting an opened on-off valve SV among the on-off valves SV. Therefore, with the configuration of FIG.
- the fourth adjusting regulator RC 4 is also an example of the third adjusting regulator RC 3 .
- the third adjusting regulator RC 3 or the fourth adjusting regulator RC 4 may be provided in series to the second regulators R 21 to R 24 .
- the channel constituting unit 50 C includes the fourth adjusting regulators RC 4 in a fourth embodiment. Therefore, according to the present embodiment, it is possible to further improve the linearity of control for the pressures at the predetermined points P 1 and P 2 , for example, by the fourth adjusting regulators RC 4 .
- FIG. 13 is a schematic configuration diagram of an actuator 100 D including a variable pressure device 1 D.
- the variable pressure device 1 D includes duty valves 41 D and 42 D in place of the first regulators R 11 and R 12 and the switch valve mechanism 10 A.
- the duty valves 41 D and 42 D are PWM-driven solenoid on-off valves.
- the duty valve 41 D can switch an open state where a high-pressure side port (on the side of the pressure control valve 30 ) and a port on the side of the first operating unit AP 1 are connected to each other and a closed state where the high-pressure side port is closed and the port on the side of the first operating unit AP 1 and a drain are connected to each other.
- the duty valve 42 D can switch an open state where a high-pressure side port (on the side of the pressure control valve 30 ) and a port on the side of the second operating unit AP 2 are connected to each other and a closed state where the high-pressure side port is closed and the port on the side of the second operating unit AP 2 and a drain are connected to each other.
- An ECU can change a substantial opening area (channel resistance) of each of the duty valves 41 D and 42 D by changing a duty ratio of PWM.
- the duty valves 41 D and 42 D are equivalent to a regulator with a large opening area for a flow into the first operating unit AP 1 or the second operating unit AP 2 and a regulator with a small opening area for a flow from the first operating unit AP 1 or the second operating unit AP 2 .
- the duty valves 41 D and 42 D are equivalent to a regulator with a small opening area for the flow into the first operating unit AP 1 or the second operating unit AP 2 and a regulator with a large opening area for the flow from the first operating unit AP 1 or the second operating unit AP 2 . Therefore, it can be said that the variable pressure device 1 D of FIG.
- the 13 includes the duty valve 41 D equivalent to a variable regulator in place of the first regulator R 11 and the second regulators R 21 to R 24 of the variable pressure devices 1 A to 1 C, and includes the duty valve 42 D equivalent to a variable regulator in place of the first regulator R 12 and the second regulators R 21 to R 24 of the variable pressure devices 1 A to 1 C.
- the second regulator R 2 is provided in series to each of the duty valves 41 D and 42 D and has an identical function to those of the first adjusting regulators RC 11 and RC 12 of the variable pressure devices 1 A to 1 C (an improvement of the linearity).
- an ECU makes the duty ratio of the duty valve 42 D in an open state low when the duty ratio of the duty valve 41 D in an open state is high, makes the duty ratio of the duty valve 42 D in an open state higher gradually from a state where it is low as the duty ratio of the duty valve 41 D in an open state gradually becomes lower from a state where it is high, and makes the duty ratio of the duty valve 42 D in an open state high when the duty ratio of the duty valve 41 D in an open state is low.
- conflicting characteristics of the pressures at the predetermined points P 1 and P 2 are obtained as in the embodiments described above.
- the ECU may control the duty valves 41 D and 42 D with duty ratios in a closed state.
- variable pressure device 1 D includes the two parallel duty valves 41 D and 42 D for each of which a duty ratio of opening and closing can be variably set.
- the ECU makes the duty ratio of the other low.
- the ECU makes the duty ratio of the other high. Therefore, according to the present embodiment, it is possible to obtain conflicting characteristics of the pressures at the predetermined points P 1 and P 2 , for example, by appropriately controlling the two duty valves 41 D and 42 D by the ECU.
- variable pressure device 1 D that can obtain the conflicting characteristics of the pressures at the predetermined points P 1 and P 2 to be relatively compact. Further, it is possible to more finely control the pressures at the predetermined points P 1 and P 2 , for example.
- FIG. 14 is a schematic configuration diagram of an actuator 100 E including a variable pressure device 1 E.
- one duty valve 40 E is provided in place of the duty valves 41 D and 42 D.
- the duty valve 40 E is a PWM-driven solenoid on-off valve.
- An ECU switches a first state where a high-pressure side port (on the side of the pressure control valve 30 ) and a port on the side of the first operating unit AP 1 are connected to each other in the duty valve 40 E and a second state where the high-pressure side port (on the side of the pressure control valve 30 ) and a port on the side of the second operating unit AP 2 are connected to each other at a high speed.
- the ECU can change a ratio of an opening area (channel resistance) in the duty valve 40 E in a channel on the side of the first operating unit AP 1 and an opening area (channel resistance) in the duty valve 40 E in a channel on the side of the second operating unit AP 2 by changing a duty ratio of PWM. In this manner, conflicting characteristics of the pressures at the predetermined points P 1 and P 2 are obtained as in the embodiments described above.
- the variable pressure device 1 E includes the duty valve 40 E that switches a first state where one path is in an open state and the other path is in a closed state and a second state where the one path is in a closed state and the other path is in an open state. Therefore, according to the present embodiment, it is possible to obtain conflicting characteristics of the pressures at the predetermined points P 1 and P 2 , for example, by appropriately controlling the duty ratio of the duty valve 40 E by the ECU. It is also possible to constitute the variable pressure device 1 E that can obtain the conflicting characteristics of the pressures at the predetermined points P 1 and P 2 to be relatively compact. Further, it is possible to more finely control the pressures at the predetermined points P 1 and P 2 , for example.
- a flowing direction of a fluid may be opposite in the variable pressure devices 1 and 1 A to 1 E.
- a fluid may flow from the second regulators R 21 to R 24 to the first regulator R 1 or the duty valve 40 E or the duty vales 41 D and 42 D.
- the channel constituting units 50 and 50 A to 50 E can be constituted as various types of equivalent fluid circuits.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Fluid Pressure (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
Abstract
Description
Ai=A×2(i-1) (1)
Claims (6)
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Also Published As
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JP2019052754A (en) | 2019-04-04 |
US20190085877A1 (en) | 2019-03-21 |
JP6957421B2 (en) | 2021-11-02 |
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